version: 66.07
glider: 513
mission: 7
dive: 264
start: 8 14 111 18 11 52
data:
$ID,513
$MISSION,7
$DIVE,264
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,350
$T_MISSION,700
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51770
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2114
$TGT_DEFAULT_LON,-15752
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-427226.47
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3828
$C_PITCH,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,173
$ROLL_MAX,3873
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,69
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,394
$VBD_MAX,3960
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,140
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.005497
$PRESSURE_SLOPE,0.00011645097
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042943386
$SEABIRD_T_H,0.00062873802
$SEABIRD_T_I,2.3468303e-05
$SEABIRD_T_J,2.4773003e-06
$SEABIRD_C_G,-10.034972
$SEABIRD_C_H,1.1114111
$SEABIRD_C_I,0.0038124193
$SEABIRD_C_J,-0.00019934869
$AR_DIVENUM,263
$AR_SAMPLENUM,4
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,140811,174710,2013.821,-15616.640,11,4.6,30,9.8
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-78.2
$GPS2,140811,181055,2013.599,-15616.762,70,1.3,70,9.8
$SPEED_LIMITS,0.086,0.239
$TGT_NAME,G7
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.058,0.232
$KALMAN_X,-130543.5,603.7,-524.6,194795.6,-1117.7
$KALMAN_Y,-85630.1,1333.2,1139.7,108883.4,-14208.8
$MHEAD_RNG_PITCHd_Wd,42.8,4012,-15.7,-8.571
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-0.80,-136.7,0.0,0.0,0,85,0.00,0.00,-52.80,0.000,2,0.000,0.000,36,2038,3589,0,0,0,0,0,0
$GC,89,-0.80,-136.7,3.2,-4.5,8,112,9.65,2.12,-4.72,0.000,4,0.243,0.062,2321,3386,3857,0,0,0,0,0,0
$GC,148,-0.80,-136.7,28.0,-39.3,17,155,0.00,2.17,0.00,0.000,6,0.000,0.038,2320,2004,3859,0,0,0,0,0,0
$GC,412,-0.80,-136.7,110.6,-30.1,42,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,1998,3863,0,0,0,0,0,0
$GC,676,-0.80,-136.7,176.3,-23.1,67,679,0.00,2.12,0.00,0.000,4,0.000,0.039,2321,588,3864,0,0,0,0,0,0
$GC,696,-0.80,-136.7,180.7,-21.9,68,700,0.00,2.10,0.00,0.000,6,0.000,0.040,2310,1967,3863,0,0,0,0,0,0
$GC,952,-0.80,-136.7,237.1,-20.0,84,957,0.10,2.22,0.00,0.000,4,0.199,0.045,2324,3416,3865,0,0,0,0,0,0
$GC,1007,-0.80,-136.7,246.9,-16.1,86,1014,0.00,2.15,0.00,0.000,6,0.000,0.031,2324,1977,3864,0,0,0,0,0,0
$GC,1262,-0.80,-136.7,290.7,-17.1,99,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,1969,3865,0,0,0,0,0,0
$GC,1526,-0.80,-136.7,337.7,-18.1,107,1530,0.00,2.22,0.00,0.000,4,0.000,0.048,2313,3410,3865,0,0,0,0,0,0
$GC,1565,-0.80,-136.7,344.8,-17.1,107,1570,0.00,2.10,0.00,0.000,6,0.000,0.031,2313,1994,3865,0,0,0,0,0,0
$GC,1815,-0.80,-136.7,386.8,-17.0,114,1819,0.00,2.20,0.00,0.000,4,0.000,0.051,2302,3406,3864,0,0,0,0,0,0
$GC,1866,-0.80,-136.7,396.0,-17.2,115,1870,0.12,2.10,0.00,0.000,6,0.171,0.033,2334,2001,3864,0,0,0,0,0,0
$GC,2137,-0.80,-136.7,437.5,-15.3,122,2141,0.00,2.08,0.00,0.000,4,0.000,0.040,2334,601,3862,0,0,0,0,0,0
$GC,2239,-0.80,-136.7,452.0,-13.5,124,2243,0.00,2.15,0.00,0.000,6,0.000,0.041,2327,2010,3861,0,0,0,0,0,0
$GC,2505,-0.80,-136.7,489.2,-13.9,131,2509,0.00,2.15,0.00,0.000,4,0.000,0.051,2315,3404,3859,0,0,0,0,0,0
$GC,2554,-0.80,-136.7,496.8,-14.9,132,2558,0.00,2.10,0.00,0.000,6,0.000,0.033,2315,1988,3859,0,0,0,0,0,0
$GC,2834,-0.80,-136.7,536.5,-14.0,139,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1988,3856,0,0,0,0,0,0
$GC,3076,-0.80,-136.7,570.9,-14.4,145,3080,0.00,2.08,0.00,0.000,4,0.000,0.043,2315,608,3853,0,0,0,0,0,0
$GC,3108,-0.80,-136.7,575.6,-14.7,145,3113,0.12,2.12,0.00,0.000,6,0.181,0.044,2336,2003,3853,0,0,0,0,0,0
$GC,3360,-0.80,-136.7,607.2,-12.5,151,3364,0.00,2.20,0.00,0.000,4,0.000,0.052,2327,3410,3851,0,0,0,0,0,0
$GC,3421,-0.80,-136.7,615.3,-12.5,152,3425,0.00,2.15,0.00,0.000,6,0.000,0.035,2326,2005,3850,0,0,0,0,0,0
$GC,3688,-0.80,-136.7,649.9,-13.0,159,3692,0.00,2.22,0.00,0.000,4,0.000,0.054,2316,3401,3847,0,0,0,0,0,0
$GC,3721,-0.80,-136.7,654.4,-13.8,159,3727,0.00,2.12,0.00,0.000,6,0.000,0.033,2316,2000,3847,0,0,0,0,0,0
$GC,3972,-0.80,-136.7,688.3,-13.6,166,3976,0.00,2.22,0.00,0.000,4,0.000,0.055,2305,3401,3845,0,0,0,0,0,0
$GC,4005,-0.80,-136.7,693.3,-14.1,166,4013,0.12,2.15,0.00,0.000,6,0.172,0.034,2337,1984,3847,0,0,0,0,0,0
$GC,4255,-0.80,-136.7,723.3,-12.0,173,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1976,3842,0,0,0,0,0,0
$GC,4501,-0.80,-136.7,753.3,-12.2,179,4504,0.00,2.10,0.00,0.000,4,0.000,0.044,2337,593,3840,0,0,0,0,0,0
$GC,4545,-0.80,-136.7,759.3,-13.1,180,4549,0.00,2.20,0.00,0.000,6,0.000,0.047,2329,2010,3840,0,0,0,0,0,0
$GC,4829,-0.80,-136.7,794.7,-12.6,187,4833,0.00,2.20,0.00,0.000,4,0.000,0.054,2319,3409,3837,0,0,0,0,0,0
$GC,4897,-0.80,-136.7,803.5,-13.5,188,4901,0.00,2.12,0.00,0.000,6,0.000,0.035,2317,2006,3836,0,0,0,0,0,0
$GC,5152,-0.80,-136.7,837.7,-13.5,195,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2001,3833,0,0,0,0,0,0
$GC,5395,-0.80,-136.7,869.7,-13.2,201,5400,0.00,2.22,0.00,0.000,4,0.000,0.054,2306,3407,3832,0,0,0,0,0,0
$GC,5520,-0.80,-136.7,886.2,-12.8,203,5526,0.12,2.17,0.00,0.000,6,0.176,0.035,2334,1987,3835,0,0,0,0,0,0
$STATE,5645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5646,begin apogee
$GC,5651,-0.28,0.0,901.4,12.0,207,5767,0.55,0.00,110.93,1.085,6,0.146,0.000,2503,1980,3300,0,0,0,0,0,0
$STATE,5770,end apogee,CONTROL_FINISHED_OK
$STATE,5770,begin climb
$GC,5773,0.80,136.7,905.2,0.0,210,5900,1.02,0.00,120.03,1.053,6,0.096,0.000,2845,1977,2743,0,0,0,0,0,0
$GC,6139,0.80,136.7,849.6,18.2,219,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1980,2732,0,0,0,0,0,0
$GC,6382,0.80,136.7,804.4,18.6,225,6386,0.00,2.20,0.00,0.000,4,0.000,0.053,2845,3332,2731,0,0,0,0,0,0
$GC,6427,0.80,136.7,795.3,20.1,226,6431,0.00,2.17,0.00,0.000,6,0.000,0.031,2862,1928,2731,0,0,0,0,0,0
$GC,6704,0.80,136.7,740.0,19.9,233,6708,0.00,2.15,0.00,0.000,4,0.000,0.041,2867,519,2728,0,0,0,0,0,0
$GC,6744,0.80,136.7,731.8,20.5,234,6748,0.00,2.15,0.00,0.000,6,0.000,0.038,2867,1926,2726,0,0,0,0,0,0
$GC,7028,0.80,136.7,674.9,19.8,241,7032,0.00,2.25,0.00,0.000,4,0.000,0.052,2873,3342,2726,0,0,0,0,0,0
$GC,7043,0.80,136.7,671.4,19.6,241,7047,0.00,2.15,0.00,0.000,6,0.000,0.032,2877,1928,2726,0,0,0,0,0,0
$GC,7310,0.80,136.7,619.8,19.6,248,7314,0.00,2.22,0.00,0.000,4,0.000,0.051,2877,3338,2726,0,0,0,0,0,0
$GC,7337,0.80,136.7,614.2,20.8,248,7341,0.12,2.15,0.00,0.000,6,0.209,0.032,2859,1929,2726,0,0,0,0,0,0
$GC,7592,0.80,136.7,569.2,17.4,255,7596,0.00,2.12,0.00,0.000,4,0.000,0.041,2868,519,2725,0,0,0,0,0,0
$GC,7620,0.80,136.7,563.8,18.2,255,7624,0.00,2.15,0.00,0.000,6,0.000,0.035,2860,1936,2722,0,0,0,0,0,0
$GC,7870,0.80,136.7,519.3,18.4,261,7874,0.00,2.15,0.00,0.000,4,0.000,0.041,2869,519,2722,0,0,0,0,0,0
$GC,7920,0.80,136.7,510.1,18.5,262,7925,0.00,2.17,0.00,0.000,6,0.000,0.036,2860,1939,2722,0,0,0,0,0,0
$GC,8193,0.80,136.7,462.4,17.5,269,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1941,2725,0,0,0,0,0,0
$GC,8437,0.80,136.7,422.1,16.2,275,8441,0.00,2.17,0.00,0.000,4,0.000,0.042,2869,524,2721,0,0,0,0,0,0
$GC,8483,0.80,136.7,414.1,17.8,276,8487,0.00,2.15,0.00,0.000,6,0.000,0.036,2861,1932,2720,0,0,0,0,0,0
$GC,8772,0.80,136.7,368.1,15.7,283,8776,0.00,2.22,0.00,0.000,4,0.000,0.052,2861,3333,2720,0,0,0,0,0,0
$GC,8894,0.80,136.7,349.4,15.7,285,8900,0.00,2.15,0.00,0.000,6,0.000,0.031,2870,1920,2724,0,0,0,0,0,0
$GC,9145,0.80,136.7,313.8,14.2,292,9149,0.00,2.10,0.00,0.000,4,0.000,0.041,2881,529,2720,0,0,0,0,0,0
$GC,9185,0.80,136.7,307.5,15.5,293,9189,0.00,2.12,0.00,0.000,6,0.000,0.035,2877,1931,2718,0,0,0,0,0,0
$GC,9451,0.80,136.7,266.8,14.9,304,9455,0.00,2.22,0.00,0.000,4,0.000,0.051,2880,3336,2718,0,0,0,0,0,0
$GC,9502,0.80,136.7,259.0,14.3,306,9506,0.15,2.15,0.00,0.000,6,0.197,0.031,2854,1923,2719,0,0,0,0,0,0
$GC,9755,0.80,136.7,226.7,12.2,318,9759,0.00,2.22,0.00,0.000,4,0.000,0.051,2844,3338,2719,0,0,0,0,0,0
$GC,9770,0.80,136.7,224.8,11.7,318,9777,0.00,2.12,0.00,0.000,6,0.000,0.031,2852,1924,2719,0,0,0,0,0,0
$GC,10026,0.80,136.7,197.7,10.7,331,10030,0.00,2.10,0.00,0.000,4,0.000,0.040,2864,529,2719,0,0,0,0,0,0
$GC,10078,0.80,136.7,191.9,11.4,335,10082,0.00,2.12,0.00,0.000,6,0.000,0.036,2863,1937,2717,0,0,0,0,0,0
$GC,10344,0.80,136.7,163.3,10.6,359,10351,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1937,2717,0,0,0,0,0,0
$GC,10607,0.80,136.7,137.1,9.3,384,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1937,2718,0,0,0,0,0,0
$GC,10864,0.80,136.7,110.7,10.2,408,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1936,2718,0,0,0,0,0,0
$GC,11128,0.82,156.6,88.8,7.7,433,11153,0.00,2.20,13.57,0.492,4,0.000,0.041,2874,532,2661,0,0,0,0,0,0
$GC,11398,0.83,168.4,63.6,8.1,457,11419,0.00,2.12,11.18,0.459,6,0.000,0.034,2874,1928,2614,0,0,0,0,0,0
$GC,11674,0.83,168.4,40.0,8.9,483,11678,0.00,2.12,0.00,0.000,4,0.000,0.039,2884,526,2613,0,0,0,0,0,0
$GC,11820,0.84,173.2,26.9,8.4,498,11834,0.00,2.12,6.07,0.378,6,0.000,0.033,2883,1924,2593,0,0,0,0,0,0
$STATE,12086,end climb,SURFACE_DEPTH_REACHED
$STATE,12086,begin surface coast
$FINISH,0.2,1.023139
$STATE,12109,end surface coast,CONTROL_FINISHED_OK
$STATE,12109,begin surface
$SM_CCo,12131,62.88,0.438,0,0,2075,300.24
$SM_GC,1.00,0.00,0.00,62.88,0.000,0.000,0.438,52,2026,2075,-7.95,0.74,300.24
$IRIDIUM_FIX,2006.47,-15614.61,060213,121216
$TT8_MAMPS,0.251576
$HUMID,1078865152
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.50
$XPDR_PINGS,100
$AR_POSTDIVE_SAMPLENUM,4
$AR_CDRIVE_FREE,6299090944
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,39320027136
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.9,38.123
$10V_AH,10.1,34.572
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.600,120.900,261.775,62.875,0.000,144.905,210.680,532.113,25.000,0.000,71.931,1178.802,8800.373,417.675,2791.563,437.947,33.352,1194.531,0.000,1868.180,0.000,0.541,0.000
$DEVICE_MAMPS,243.139,102.011,1084.538,437.957,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BBFL2VMT,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,376.121,0.000,975.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354204
$DATA_FILE_SIZE,26976,551
$CAP_FILE_SIZE,123499,0
$CFSIZE,260165632,186499072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,321.8,1
$GPS,140811,213637,2014.475,-15615.503,30,1.1,30,9.8